(:trajectory

(:state (clean shaker1) (clean shot1) (clean shot2) (clean shot3) (cocktail_part1 cocktail1 ingredient1) (cocktail_part1 cocktail2 ingredient5) (cocktail_part1 cocktail3 ingredient1) (cocktail_part2 cocktail1 ingredient2) (cocktail_part2 cocktail2 ingredient3) (cocktail_part2 cocktail3 ingredient4) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (empty shaker1) (empty shot1) (empty shot2) (empty shot3) (handempty left) (handempty right) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot1) (ontable shot2) (ontable shot3) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l0))

(:action (grasp right shot2))

(:state (clean shaker1) (clean shot1) (clean shot2) (clean shot3) (cocktail_part1 cocktail1 ingredient1) (cocktail_part1 cocktail2 ingredient5) (cocktail_part1 cocktail3 ingredient1) (cocktail_part2 cocktail1 ingredient2) (cocktail_part2 cocktail2 ingredient3) (cocktail_part2 cocktail3 ingredient4) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (empty shaker1) (empty shot1) (empty shot2) (empty shot3) (handempty left) (holding right shot2) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot1) (ontable shot3) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l0))

(:action (fill_shot shot2 ingredient1 right left dispenser1))

(:state (clean shaker1) (clean shot1) (clean shot3) (cocktail_part1 cocktail1 ingredient1) (cocktail_part1 cocktail2 ingredient5) (cocktail_part1 cocktail3 ingredient1) (cocktail_part2 cocktail1 ingredient2) (cocktail_part2 cocktail2 ingredient3) (cocktail_part2 cocktail3 ingredient4) (contains shot2 ingredient1) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (empty shaker1) (empty shot1) (empty shot3) (handempty left) (holding right shot2) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot1) (ontable shot3) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l0) (used shot2 ingredient1))

(:action (grasp left shot1))

(:state (clean shaker1) (clean shot1) (clean shot3) (cocktail_part1 cocktail1 ingredient1) (cocktail_part1 cocktail2 ingredient5) (cocktail_part1 cocktail3 ingredient1) (cocktail_part2 cocktail1 ingredient2) (cocktail_part2 cocktail2 ingredient3) (cocktail_part2 cocktail3 ingredient4) (contains shot2 ingredient1) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (empty shaker1) (empty shot1) (empty shot3) (holding left shot1) (holding right shot2) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot3) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l0) (used shot2 ingredient1))

(:action (leave left shot1))

(:state (clean shaker1) (clean shot1) (clean shot3) (cocktail_part1 cocktail1 ingredient1) (cocktail_part1 cocktail2 ingredient5) (cocktail_part1 cocktail3 ingredient1) (cocktail_part2 cocktail1 ingredient2) (cocktail_part2 cocktail2 ingredient3) (cocktail_part2 cocktail3 ingredient4) (contains shot2 ingredient1) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (empty shaker1) (empty shot1) (empty shot3) (handempty left) (holding right shot2) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot1) (ontable shot3) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l0) (used shot2 ingredient1))

(:action (grasp left shot1))

(:state (clean shaker1) (clean shot1) (clean shot3) (cocktail_part1 cocktail1 ingredient1) (cocktail_part1 cocktail2 ingredient5) (cocktail_part1 cocktail3 ingredient1) (cocktail_part2 cocktail1 ingredient2) (cocktail_part2 cocktail2 ingredient3) (cocktail_part2 cocktail3 ingredient4) (contains shot2 ingredient1) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (empty shaker1) (empty shot1) (empty shot3) (holding left shot1) (holding right shot2) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot3) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l0) (used shot2 ingredient1))

(:action (leave left shot1))

(:state (clean shaker1) (clean shot1) (clean shot3) (cocktail_part1 cocktail1 ingredient1) (cocktail_part1 cocktail2 ingredient5) (cocktail_part1 cocktail3 ingredient1) (cocktail_part2 cocktail1 ingredient2) (cocktail_part2 cocktail2 ingredient3) (cocktail_part2 cocktail3 ingredient4) (contains shot2 ingredient1) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (empty shaker1) (empty shot1) (empty shot3) (handempty left) (holding right shot2) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot1) (ontable shot3) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l0) (used shot2 ingredient1))

(:action (grasp left shot1))

(:state (clean shaker1) (clean shot1) (clean shot3) (cocktail_part1 cocktail1 ingredient1) (cocktail_part1 cocktail2 ingredient5) (cocktail_part1 cocktail3 ingredient1) (cocktail_part2 cocktail1 ingredient2) (cocktail_part2 cocktail2 ingredient3) (cocktail_part2 cocktail3 ingredient4) (contains shot2 ingredient1) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (empty shaker1) (empty shot1) (empty shot3) (holding left shot1) (holding right shot2) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot3) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l0) (used shot2 ingredient1))

(:action (pour_shot_to_clean_shaker shot2 ingredient1 shaker1 right l0 l1))

(:state (clean shot1) (clean shot3) (cocktail_part1 cocktail1 ingredient1) (cocktail_part1 cocktail2 ingredient5) (cocktail_part1 cocktail3 ingredient1) (cocktail_part2 cocktail1 ingredient2) (cocktail_part2 cocktail2 ingredient3) (cocktail_part2 cocktail3 ingredient4) (contains shaker1 ingredient1) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (empty shot1) (empty shot2) (empty shot3) (holding left shot1) (holding right shot2) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot3) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l1) (unshaked shaker1) (used shot2 ingredient1))

(:action (leave left shot1))

(:state (clean shot1) (clean shot3) (cocktail_part1 cocktail1 ingredient1) (cocktail_part1 cocktail2 ingredient5) (cocktail_part1 cocktail3 ingredient1) (cocktail_part2 cocktail1 ingredient2) (cocktail_part2 cocktail2 ingredient3) (cocktail_part2 cocktail3 ingredient4) (contains shaker1 ingredient1) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (empty shot1) (empty shot2) (empty shot3) (handempty left) (holding right shot2) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot1) (ontable shot3) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l1) (unshaked shaker1) (used shot2 ingredient1))

(:action (clean_shot shot2 ingredient1 right left))

(:state (clean shot1) (clean shot2) (clean shot3) (cocktail_part1 cocktail1 ingredient1) (cocktail_part1 cocktail2 ingredient5) (cocktail_part1 cocktail3 ingredient1) (cocktail_part2 cocktail1 ingredient2) (cocktail_part2 cocktail2 ingredient3) (cocktail_part2 cocktail3 ingredient4) (contains shaker1 ingredient1) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (empty shot1) (empty shot2) (empty shot3) (handempty left) (holding right shot2) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot1) (ontable shot3) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l1) (unshaked shaker1))

(:action (fill_shot shot2 ingredient4 right left dispenser4))

(:state (clean shot1) (clean shot3) (cocktail_part1 cocktail1 ingredient1) (cocktail_part1 cocktail2 ingredient5) (cocktail_part1 cocktail3 ingredient1) (cocktail_part2 cocktail1 ingredient2) (cocktail_part2 cocktail2 ingredient3) (cocktail_part2 cocktail3 ingredient4) (contains shaker1 ingredient1) (contains shot2 ingredient4) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (empty shot1) (empty shot3) (handempty left) (holding right shot2) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot1) (ontable shot3) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l1) (unshaked shaker1) (used shot2 ingredient4))

)